gz-sim plugin not loaded

[napat35253]

Environment

• OS Version: MacOS M2, parallels VM Ubuntu 22.04
• Source or binary build? : source humble

Description

• Expected behavior: gz-sim plugin loaded
• Actual behavior:

[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:78] Failed to load system plugin [gz-sim-sensors-system] : couldn't find shared library.

Steps to reproduce

1. use ros_gz_sim to launch the world
2. ros2 launch ros_gz_sim gz_sim.launch.py gz_args:="test.sdf"

Output

[ruby $(which ign) gazebo-1] [Err] [SystemLoader.cc:78] Failed to load system plugin [gz-sim-sensors-system] : couldn't find shared library.

If I change the world file from for example

      <plugin
        filename="gz-sim-sensors-system"
        name="gz::sim::systems::Sensors">
        <render_engine>ogre2</render_engine>
      </plugin>

to

      <plugin
        filename="ignition-gazebo-sensors-system"
        name="ignition::gazebo::systems::Sensors">
        <render_engine>ogre2</render_engine>
      </plugin>

it seems to work but I'm not sure should this is the way to solve this problem or not.

[ahcorde]

@napat35253, which Gazebo version are you using ? Fortress? Garden ?

[napat35253]

@napat35253, which Gazebo version are you using ? Fortress? Garden ?

I'm using Garden

[iche033]

From the error messages, you may have Fortress installed instead of Garden (or may be both?). We changed ignition and ign to gz in Garden. It seems like ros_gz_sim is loading Fortress in your case.

[napat35253]

@iche033 I've tried uninstall and re-install following this https://gazebosim.org/docs/garden/install_ubuntu tutorial but it seems to have the same issue. Also, I try to setup a docker container for this and it has the same issue

[Sebastian-Schroder]

I can concur but i have no extra information to add sadly.
I was required to change the plugin filename and name to the older ignition naming scheme despite having gazebo garden, and no file on my computer with that specific file name.

    <plugin
      filename="libgz-sim7-joint-state-publisher-system.so"
      name="gz::sim::systems::JointStatePublisher">
    </plugin>

-->

    <plugin
      filename="ignition-gazebo-joint-state-publisher-system"
      name="ignition::gazebo::systems::JointStatePublisher">
    </plugin>

[zhikh1]

Just specify the gz version explicitly in the ros_gz_sim launch args
launch_arguments=[ ('gz_version', '7'),...
Then the ros_gz_sim launch file will use gz instead of ign